octree_pointcloud_changedetector.h

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#pragma once
 
#include <pcl/octree/octree2buf_base.h>
#include <pcl/octree/octree_pointcloud.h>
#include <pcl/memory.h>
 
namespace pcl {
namespace octree {
 
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b Octree pointcloud change detector class
 *  \note This pointcloud octree class generate an octrees from a point cloud
 * (zero-copy). It allows to detect new leaf nodes and serialize their point indices
 *  \note The octree pointcloud is initialized with its voxel resolution. Its bounding
 * box is automatically adjusted or can be predefined.
 * \tparam PointT type of point used in pointcloud
 * \ingroup octree
 * \author Julius Kammerl (julius@kammerl.de)
 */
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT,
          typename LeafContainerT = OctreeContainerPointIndices,
          typename BranchContainerT = OctreeContainerEmpty>
 
class OctreePointCloudChangeDetector
: public OctreePointCloud<PointT,
                          LeafContainerT,
                          BranchContainerT,
                          Octree2BufBase<LeafContainerT, BranchContainerT>>
 
{
 
public:
  using Ptr = shared_ptr<
      OctreePointCloudChangeDetector<PointT, LeafContainerT, BranchContainerT>>;
  using ConstPtr = shared_ptr<
      const OctreePointCloudChangeDetector<PointT, LeafContainerT, BranchContainerT>>;
 
  /** \brief Constructor.
   *  \param resolution_arg:  octree resolution at lowest octree level
   * */
  OctreePointCloudChangeDetector(const double resolution_arg)
  : OctreePointCloud<PointT,
                     LeafContainerT,
                     BranchContainerT,
                     Octree2BufBase<LeafContainerT, BranchContainerT>>(resolution_arg)
  {}
 
  /** \brief Get a indices from all leaf nodes that did not exist in previous buffer.
   * \param indicesVector_arg: results are written to this vector of int indices
   * \param minPointsPerLeaf_arg: minimum amount of points required within leaf node to
   * become serialized.
   * \return number of point indices
   */
  std::size_t
  getPointIndicesFromNewVoxels(Indices& indicesVector_arg,
                               const uindex_t minPointsPerLeaf_arg = 0)
  {
 
    std::vector<OctreeContainerPointIndices*> leaf_containers;
    this->serializeNewLeafs(leaf_containers);
 
    for (const auto& leaf_container : leaf_containers) {
      if (static_cast<uindex_t>(leaf_container->getSize()) >= minPointsPerLeaf_arg)
        leaf_container->getPointIndices(indicesVector_arg);
    }
 
    return (indicesVector_arg.size());
  }
};
} // namespace octree
} // namespace pcl
 
#define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T)                              \
  template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;